73 Mack Cf 600.

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Update. I broke the truck. Normaly every day im home i start the truck up because its outside til we find a place for it. Today, the steering wheel felt lose, like it was easier to move. I started the truck up and turned the wheel a little and it went BOOM. Then i lost steering. Ok fantastic, so i looked underneath and saw that the arm that goes to the output gear from the power steering cylander underneath came off. So pretty sure i found the problem i tried putting it back on. There are two screws that i had to undo with plyers and loosen them up. But still no go. I was able to get it on a little, but again the wheels turned a bit and boom again it came off. I dont know if i just have to match up the arm with the gears or if something is damaged. Attached is a few pictures of what im talking about. First picture is an outside shot of the mechanism. Second is looking up into it where the arm popped off of the gear. The thing protruding at the top is a screw, there were two of these that i had to loosen with plyers to help troubleshoot. How can i fix this? Im hoping its something as easy as aligning the gears and popping it back on the shaft?